test_sensor.py 文件源码

def draw_debug(img, pose, gt_pose, tracker, alpha, debug_info):
    if debug_info is not None:
        img_render, bb, _ = debug_info
        img_render = cv2.resize(img_render, (bb[2, 1] - bb[0, 1], bb[1, 0] - bb[0, 0]))
        crop = img[bb[0, 0]:bb[1, 0], bb[0, 1]:bb[2, 1], :]
        h, w, c = crop.shape
        blend = image_blend(img_render[:h, :w, ::-1], crop)
        img[bb[0, 0]:bb[1, 0], bb[0, 1]:bb[2, 1], :] = cv2.addWeighted(img[bb[0, 0]:bb[1, 0], bb[0, 1]:bb[2, 1], :],
                                                                       1 - alpha, blend, alpha, 1)
    else:
        axis = compute_axis(pose, tracker.camera, tracker.object_width, scale=(1000, -1000, -1000))
        axis_gt = compute_axis(gt_pose, tracker.camera, tracker.object_width, scale=(1000, -1000, -1000))

        cv2.line(img, tuple(axis_gt[0, ::-1]), tuple(axis_gt[1, ::-1]), (0, 0, 155), 3)
        cv2.line(img, tuple(axis_gt[0, ::-1]), tuple(axis_gt[2, ::-1]), (0, 155, 0), 3)
        cv2.line(img, tuple(axis_gt[0, ::-1]), tuple(axis_gt[3, ::-1]), (155, 0, 0), 3)

        cv2.line(img, tuple(axis[0, ::-1]), tuple(axis[1, ::-1]), (0, 0, 255), 3)
        cv2.line(img, tuple(axis[0, ::-1]), tuple(axis[2, ::-1]), (0, 255, 0), 3)
        cv2.line(img, tuple(axis[0, ::-1]), tuple(axis[3, ::-1]), (255, 0, 0), 3)